CN102686809B - Apparatus and method for controlling a hydraulic pump of a construction machine - Google Patents
Apparatus and method for controlling a hydraulic pump of a construction machine Download PDFInfo
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- CN102686809B CN102686809B CN201080058587.1A CN201080058587A CN102686809B CN 102686809 B CN102686809 B CN 102686809B CN 201080058587 A CN201080058587 A CN 201080058587A CN 102686809 B CN102686809 B CN 102686809B
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000010276 construction Methods 0.000 title abstract 2
- 239000012530 fluid Substances 0.000 claims description 13
- 238000013024 troubleshooting Methods 0.000 claims description 12
- 230000015556 catabolic process Effects 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 5
- 230000006835 compression Effects 0.000 description 4
- 238000007906 compression Methods 0.000 description 4
- 230000015572 biosynthetic process Effects 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000036632 reaction speed Effects 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 238000007599 discharging Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
- E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/002—Hydraulic systems to change the pump delivery
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/24—Safety devices, e.g. for preventing overload
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B1/00—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders
- F04B1/12—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinder axes coaxial with, or parallel or inclined to, main shaft axis
- F04B1/26—Control
- F04B1/30—Control of machines or pumps with rotary cylinder blocks
- F04B1/32—Control of machines or pumps with rotary cylinder blocks by varying the relative positions of a swash plate and a cylinder block
- F04B1/324—Control of machines or pumps with rotary cylinder blocks by varying the relative positions of a swash plate and a cylinder block by changing the inclination of the swash plate
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B17/00—Pumps characterised by combination with, or adaptation to, specific driving engines or motors
- F04B17/05—Pumps characterised by combination with, or adaptation to, specific driving engines or motors driven by internal-combustion engines
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B27/00—Multi-cylinder pumps specially adapted for elastic fluids and characterised by number or arrangement of cylinders
- F04B27/04—Multi-cylinder pumps specially adapted for elastic fluids and characterised by number or arrangement of cylinders having cylinders in star- or fan-arrangement
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B27/00—Multi-cylinder pumps specially adapted for elastic fluids and characterised by number or arrangement of cylinders
- F04B27/08—Multi-cylinder pumps specially adapted for elastic fluids and characterised by number or arrangement of cylinders having cylinders coaxial with, or parallel or inclined to, main shaft axis
- F04B27/14—Control
- F04B27/16—Control of pumps with stationary cylinders
- F04B27/18—Control of pumps with stationary cylinders by varying the relative positions of a swash plate and a cylinder block
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
- F04B49/065—Control using electricity and making use of computers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B2203/00—Motor parameters
- F04B2203/06—Motor parameters of internal combustion engines
- F04B2203/0603—Torque
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B2203/00—Motor parameters
- F04B2203/06—Motor parameters of internal combustion engines
- F04B2203/0605—Rotational speed
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Structural Engineering (AREA)
- Combustion & Propulsion (AREA)
- Computer Hardware Design (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Chemical & Material Sciences (AREA)
- Control Of Positive-Displacement Pumps (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The present invention relates to an apparatus and method for controlling a hydraulic pump of a construction machine. The disclosed apparatus of the present invention comprises: a pump control unit which controls a discharge pressure of the hydraulic pump driven by an engine, wherein the pump control unit includes a set pressure value calculation unit which calculates a set pressure value on the basis of an engine output torque estimation value or an engine RPM; and a failure- handling unit which selects either the set pressure value and a pressure instruction value in accordance with whether or not failures of a swash plate angle sensor have occurred, and outputs the selected value.; According to the present invention, the set pressure value is calculated on the basis of the engine output torque estimation value, and the pump is controlled in accordance with the calculated set pressure value. Thus, it is possible to prevent a suction torque value of the pump from exceeding the maximum torque value of the engine even upon the occurrence of failures in the swash plate angle sensor, thereby preventing engine stall even upon the occurrence of failures in the swash plate angle sensor in a high-load work condition of the engine.
Description
Technical field
The present invention relates to fluid pump control apparatus and the control method of engineering machinery, say in more detail, relate to comprising and to be driven by motor and the fluid pump control apparatus of the engineering machinery of the compensating torque hydraulic pump variable according to control signal and control method.
Background technology
The swash plate angle transducer of the angle that can detect swash plate is possessed in order to carry out hydraulic control pump by electricity.Calculate the delivery flow of pump at pump control part according to the swash plate angle detected, thus calculate the pressure instruction value of hydraulic pump and send instruction.But when swash plate angle transducer breaks down, pump control part just cannot know that pump delivery flow also just cannot calculating pressure command value, thus normally the pressure preset arbitrarily and pressure set points is exported as instruction.
But the situation underdrive device that the load pressure in this case, on the transmission device being applied to engineering machinery is greater than the above-mentioned pressure set points be set on hydraulic pump would not action.In contrast, the flow needed for when pressure set points is greater than load pressure becomes large, and thus pump delivery flow increases thus the also just increase of the compensating torque value of pump.In the occasion of the latter, if the compensating torque value of pump is greater than the maximum torque value of motor, then there will be the phenomenon of engine misses.
Summary of the invention
Technical task
The present invention works out in order to the problem solving this prior art, even if the object of the present invention is to provide one swash plate angle transducer to break down, also engine stop can not be made thus the fluid pump control apparatus of the engineering machinery of the stability of guarantee machinery.
Problem solution
The fluid pump control apparatus being intended to the engineering machinery according to one embodiment of the invention reaching this object comprises the pump control part of the discharge pressure controlling the hydraulic pump driven by motor.Said pump control part comprises: the pressure set points calculating section calculating pressure set points based on engine output torque presumed value or engine revolution; And whether to select according to the fault of swash plate angle transducer and to export the troubleshooting portion of in above-mentioned pressure set points and pressure instruction value one.
Above-mentioned pressure set points calculating section comprises: comparison engine Driving Torque presumed value or engine revolution and engine output torque setting value or engine revolution setting value and calculate the torque/revolution difference calculating section of torque difference or revolution difference; The pressure limit configuration part of each operating pressure value range in setting operation portion according to operation signal; Input the goal pressure configuration part of above-mentioned torque difference or revolution difference and above-mentioned pressure limit value and set target pressure value; And based on above-mentioned target pressure value the pressure set points operational part of computing pressure set points.
Above-mentioned pressure set points calculating section comprises the pressure change slope configuration part of the rate of change setting pressure change slope according to the load estimated by above-mentioned torque difference or revolution difference further, and above-mentioned pressure set points operational part is computing pressure set points according to above-mentioned target pressure value and above-mentioned pressure change slope.
Above-mentioned troubleshooting portion comprises: the fault whether breakdown judge portion whether judging swash plate angle transducer according to the input of pump delivery flow; And to select in above-mentioned pressure set points (Ps) and pressure instruction value one and the pressure selection portion that exports.Above-mentioned selection portion, exports above-mentioned pressure instruction value when above-mentioned swash plate angle transducer runs well, exports above-mentioned pressure set points when above-mentioned swash plate angle transducer breaks down.
On the other hand, according to the hydraulic pump control method of the engineering machinery of one embodiment of the invention, comprising: the pressure set points calculating pressure set points based on engine output torque presumed value or engine revolution calculates step; And whether to select in above-mentioned pressure set points and pressure instruction value one and the fault handling steps that exports according to the fault of swash plate angle transducer.
Above-mentioned pressure set points calculates step and comprises: comparison engine Driving Torque presumed value or engine revolution and engine output torque setting value or engine revolution setting value and the torque/revolution difference calculating torque difference or revolution difference calculates step; The pressure limit setting procedure of each operating pressure value range in setting operation portion according to operation signal; Input the goal pressure setting procedure of above-mentioned torque difference or revolution difference and above-mentioned pressure limit value and set target pressure value; And based on the pressure set points calculation step of above-mentioned target pressure value computing pressure set points.
Above-mentioned pressure set points calculates the pressure change slope setting procedure that step comprises the rate of change setting pressure change slope according to the load that estimated by above-mentioned torque difference or revolution difference further, above-mentioned pressure set points calculation step according to above-mentioned target pressure value and above-mentioned pressure change slope computing pressure set points.
Above-mentioned fault handling steps comprises: the fault whether breakdown judge step whether judging swash plate angle transducer according to the input of pump delivery flow; And to select in above-mentioned pressure set points and pressure instruction value one and the pressure selection step that exports.In above-mentioned pressure selection step, export above-mentioned pressure instruction value when above-mentioned swash plate angle transducer runs well, export above-mentioned pressure set points when above-mentioned swash plate angle transducer breaks down.
Invention effect
According to the present invention of this formation, calculate pressure set points based on engine output torque presumed value or engine revolution and according to calculated pressure set points control pump, even if the compensating torque value of pump thus also can be avoided to exceed the maximum torque value of motor when swash plate angle transducer breaks down, even if thus in the high capacity operation of motor swash plate angle transducer break down and also can prevent the phenomenon of engine misses.
In addition, according to the present invention, oppositely calculate pressure set points due to the load (putting on the load pressure of transmission device) according to motor, thus pressure set points is variable with the load change of motor, thus prevents the state independently engine misses with the size of load or motor.
On the other hand, according to the present invention, the pressure set points calculated for target pressure value because the pressure setting pump according to engine output torque difference or engine revolution difference changes slope, thus can realize the optimization of the reaction speed according to load.
Accompanying drawing explanation
Fig. 1 is the block diagram of the schematic configuration of the fluid pump control apparatus representing engineering machinery according to an embodiment of the invention.
Fig. 2 is the block diagram of the Inner Constitution of the pump control part representing Fig. 1.
Fig. 3 is the block diagram representing the pressure set points calculating section of Fig. 2 and the Inner Constitution in troubleshooting portion.
Fig. 4 is the figure pressure set points of Fig. 3 and the pressure set points of prior art compared.
Fig. 5 is the precedence diagram of the hydraulic pump control method representing engineering machinery according to an embodiment of the invention.
Fig. 6 represents that the pressure set points of Fig. 5 calculates the precedence diagram of the thin portion step of step.
Symbol description
10-motor, 20-pump, 30-pump control part, flow calculating section needed for 31 operating portions, 32-flow difference calculating section, 33-operation signal pressure instruction value calculating section, 34-maximum suction torque value calculating section, 35-horsepower controlled pressure command value calculating section, 36-pressure minimum calculating section, 37-pressure set points calculating section, 37a-torque/revolution difference calculating section, 37b-pressure limit configuration part, 37c-goal pressure configuration part, 37d-pressure change slope configuration part, 37e-pressure set points operational part, 38-troubleshooting portion, 38a-breakdown judge portion, 38b-pressure selection portion.
Detailed description of the invention
Describe the preferred embodiments of the present invention in detail with reference to the accompanying drawings.
Fig. 1 is the block diagram of the schematic configuration of the fluid pump control apparatus representing engineering machinery according to an embodiment of the invention.With reference to Fig. 1, possesses the pump control part 30 of the discharge pressure of the hydraulic pump 20 controlling directly to be connected with motor 10 according to the fluid pump control apparatus of the engineering machinery of one embodiment of the invention.Hydraulic pump 20 possesses swash plate 20a, and the pump delivery flow (Qp) of hydraulic pump 20 changes with the angle of inclination of swash plate 20a and swash plate angle.Swash plate 20a possesses swash plate angle transducer (not shown), thus calculates the delivery flow (Qp) of the hydraulic pump 20 proportional with the swash plate angle detected and transmit to pump control part 30.On the other hand, in order to the swash plate angle of regulator solution press pump 20 is provided with adjuster 21 at hydraulic pump 20, adjuster 21 is provided with electrical proportional control valve 22.The control signal (magnitude of current) for controlling electrical proportional control valve 22 is exported from pump control part 30.Controlled the flow direction of the working oil of discharging from hydraulic pump 20 by main control valve (Main Control Valve) 2, flow direction is supplied to working rig hydraulic cylinder 4 by the working oil controlled.Main control valve 2 by the signal applied from operating portion 3 change and control the flow direction of above-mentioned working oil.
The driving of motor 10 is controlled by control unit of engine (ECU) 11.ECU11 transmits engine revolution (Nrmp) and engine output torque presumed value (Teg) to pump control part 30 thus can carry out a kind of FEEDBACK CONTROL.Engine output torque presumed value (Teg) can be obtained with maximum amount of fuel injected and the ratio of present fuel injection quantity.Pump control part 30 inputs and compares with the engine revolution (Nrmp) be input to from ECU11 after instructing engine revolution (Nrpm) and carry out following velocity response and to control or horsepower controls.In addition, pump control part 30 calculates pressure set points (Ps, Fig. 2) based on engine output torque presumed value (Teg) or engine revolution (Nrmp).If swash plate angle transducer breaks down, troubleshooting portion 38(Fig. 2 then in pump control part 30) pressure set points (Ps) that will calculate based on engine output torque presumed value (Teg) or engine revolution (Nrmp) exports the magnitude of current (Icmd, Fig. 2) corresponding with this pressure set points (Ps) as instruction to electrical proportional control valve 20.What illustrate this pressure set points (Ps) further by Fig. 2 to Fig. 4 calculates process.
Fig. 2 is the block diagram of the Inner Constitution of the pump control part 30 representing Fig. 1.With reference to Fig. 2, according to the pump control part 30 of the fluid pump control apparatus of one embodiment of the invention comprise input operation part 3 operation signal (So) and calculate flow needed for operating portion (Qicmd*) operating portion needed for flow calculating section 31, flow (Qicmd*) needed for input operation part and pump delivery flow (Qp) and calculate the flow difference calculating section 32 of its difference and calculate the operation signal pressure instruction value calculating section 33 of the pressure instruction value (Picmd) of compression pump 20 based on calculated flow difference Δ Q.On the other hand, pump control part 30 comprise further be input to engine revolution (Nrmp) and instructing engine revolution (Ncmd) after the maximum suction torque value (Tmax) that calculates of Negotiation speed induction controls or horsepower controls and calculates the maximum suction torque value of compression pump 20 maximum suction torque value calculating section 34 and inputting and pump delivery flow (Qp) calculate the horsepower controlled pressure command value calculating section 35 of pressure instruction value (Pdcmd*) afterwards based on flow/pressure line chart (QP line chart).And then, pump control part 30 comprise further to the pressure instruction value (Picmd) calculated based on operation signal (So) with to be controlled by horsepower and the pressure instruction value (Pdcmd*) that calculates compares and calculate the pressure minimum calculating section 36 of less value, the pressure set points calculating section 37 of pressure set points (Ps) is calculated based on engine output torque presumed value (Teg) or engine revolution (Nrmp), and whether and the troubleshooting portion 38 that exports with one and the backward electrical proportional control valve 22 converting the magnitude of current (Icmd) corresponding with it in pressure set points (Ps) of selection pressure command value (Pcmd) fault whether judging swash plate angle transducer according to the input of pump delivery flow (Qp).Although the present embodiment exports after being configured to convert force value to the magnitude of current in troubleshooting portion 38, can also be configured to possess according to embodiment the converter separately established and convert the force value exported from troubleshooting portion 38 to the magnitude of current corresponding with it.
Fig. 3 is the block diagram representing the pressure set points calculating section 37 of Fig. 2 and the Inner Constitution in troubleshooting portion 38.With reference to Fig. 3, comprise according to the troubleshooting portion 38 of one embodiment of the invention and whether judge the fault whether breakdown judge portion 38a of swash plate angle transducer according to the input of pump delivery flow (Qp) and whether carry out Selective Pressure force value according to the fault of swash plate angle transducer and the pressure selection portion 38b converting the magnitude of current (Icmd) corresponding with it to and export.At pressure selection portion 38b, swash plate angle transducer converts the corresponding magnitude of current (Icmd) with above-mentioned pressure instruction value (Pcmd) to and exports when running well, convert the corresponding magnitude of current (Icmd) with the pressure set points preset (Ps) to and export when fault.
But as mentioned above, when this pressure set points (Ps) is greater than load pressure, pump delivery flow (Qp) increases thus the also just increase of the compensating torque value of pump in the prior art, if thus the compensating torque value of compression pump 20 becomes the maximum torque value being greater than motor 10, then there will be the phenomenon that motor 10 stops.Calculate pressure set points (Ps) in pressure set points calculating section 37 based on engine output torque presumed value (Teg) or engine revolution (Nrmp) in order to address this is that in one embodiment of this invention, thus avoid the compensating torque value of pump to exceed the maximum torque value of motor.Further describe the formation of pressure set points calculating section 37.
Comprise according to the pressure set points calculating section 37 of one embodiment of the invention and engine output torque presumed value (Teg) or engine revolution (Nrpm) are compared with engine output torque setting value (Ts) or engine revolution setting value (Nsrpm) and calculate the torque/revolution difference calculating section 37a of torque difference (Δ T) or revolution difference (Δ N), the pressure limit configuration part 37b of the pressure limit value (Pmax ~ Pmin) of each action in setting operation portion according to operation signal (So), after input torque difference (Δ T) or revolution difference (Δ N) and pressure limit value (Pmax ~ Pmin) according to the directionality (+/-) of torque difference (Δ T) or revolution difference (Δ N) in pressure limit value (Pmax ~ Pmin) the goal pressure configuration part 37c of set target pressure value (Pt), and based target force value (Pt) calculates the pressure set points operational part 37e of pressure set points (Ps).With regard to pressure limit, be necessary the maximum value (Pmax) and the minimum value (Pmin) that preset pressure limit and the pressure being suitable for it according to the various motion characteristic of operating portion 3.In addition, pressure set points calculating section 37 comprises setting pressure change slope (α) according to the rate of change of the load estimated by torque difference (Δ T) or revolution difference (Δ N) and the pressure change slope configuration part 37d exported to pressure set points operational part 37e further.Pressure set points operational part 37e calculates pressure set points (Ps) according to target pressure value (Pt) and pressure change slope (α).Specifically, target pressure value (Pt) is equivalent to have added in pressure set points (Ps) and changes by pressure the pressure set points increase part that slope (α) brings.Like this, set pressure change slope (α) of pump and the pressure set points (Ps) that calculates for target pressure value (Pt) according to load, thus can realize the optimization of the reaction speed according to load.
Like this, pressure set points (Ps) is calculated based on engine output torque presumed value (Teg) and according to this set value calculation pump in one embodiment of this invention, even if thus the compensating torque value of compression pump 20 also can not exceed the maximum torque value of motor 10 when swash plate angle transducer breaks down in pressure set points calculating section 37.Namely, in one embodiment of this invention, utilize the engine output torque value that calculates from the load pressure reverse push putting on transmission device and change pressure set points (Ps), even if thus in the high capacity operation of motor swash plate angle transducer break down and also can prevent the phenomenon of engine misses.This feature according to pressure set points of the present invention (Ps) is illustrated in Fig. 4.As illustrated in Figure 4, fix with the value preset in the situation downforce setting value (Ps) of prior art (a), and oppositely calculate pressure set points (Ps) when the present invention (b) according to the load (putting on the load pressure of transmission device) of motor, thus pressure set points (Ps) is variable with the load change of motor.Thus, can prevent according to the present invention and with the size of load or the state independently engine misses of motor.
Fig. 5 is the precedence diagram of the hydraulic pump control method of the engineering machinery representing one embodiment of the invention.With reference to Fig. 5, comprise pressure set points substantially according to the hydraulic pump control method of the engineering machinery of one embodiment of the invention and calculate step (S37) and fault handling steps (S38).Calculate after step (S37) inputs engine output torque presumed value (Teg) or engine revolution (Nrmp), engine output torque setting value (Ts) or engine revolution setting value (Nsrpm) and operation signal (So) in pressure set points and calculate the pressure set points (Ps) meeting load or engine condition.The fault whether judging swash plate angle transducer according to the input of pump delivery flow (Qp) at fault handling steps (S38) whether after, output pressure command value (Pcmd) when swash plate angle transducer runs well, output pressure setting value (Ps) during swash plate angle transducer fault.
Fig. 6 represents that the pressure set points of Fig. 5 calculates the precedence diagram of the thin portion step of step (S37).With reference to Fig. 6, pressure set points calculates step (S37) and comprising: comparison engine Driving Torque presumed value (Teg) or engine revolution (Nrmp) and engine output torque setting value (Ts) or engine revolution setting value (Nsrpm) and torque/revolution difference of calculating torque difference (Δ T) or revolution difference (Δ N) calculates step (S37a); The pressure limit setting procedure (S37b) of each operating pressure value range (Pmax ~ Pmin) in setting operation portion according to operation signal (So); Input torque difference (Δ T) or revolution difference (Δ N) and pressure limit value (Pmax ~ Pmin) and the goal pressure setting procedure (S37c) of set target pressure value (Pt); According to pressure change slope setting procedure (S37d) of rate of change setting pressure change slope (α) of the load of presumption by torque difference (Δ T) or revolution difference (Δ N); And the pressure set points calculation step (S37e) of based target force value (Pt) and pressure change slope (α) computing pressure set points (Ps).
Like this, in one embodiment of this invention, calculate pressure set points (Ps) based on engine output torque presumed value (Teg) or engine revolution (Nrpm) and according to calculated pressure set points (Ps) control pump, even if the compensating torque value of pump thus also can be avoided to exceed the maximum torque value of motor when swash plate angle transducer breaks down.Therefore, even if swash plate angle transducer breaks down and also can prevent the phenomenon of engine misses in the high capacity operation of motor.Namely, in one embodiment of this invention, pressure set points (Ps) is oppositely calculated according to the load (putting on the load pressure of transmission device) of motor, thus pressure set points (Ps) is variable with the load change of motor, thus prevents the state independently engine misses with the size of load or motor.
On the other hand; although describe the present invention with reference to embodiment illustrated in accompanying drawing; but this just illustrates, and those skilled in the art know that to have various distortion and equivalent embodiment thus, real technical protection scope of the present invention should be determined by appending claims.
Industry utilizes possibility
Even if the present invention is applicable to swash plate angle transducer in the high capacity operation of motor and breaks down the phenomenon that also can prevent engine misses thus ensure the fluid pump control apparatus of the engineering machinery of the stability of machinery.
Claims (6)
1. a fluid pump control apparatus for engineering machinery, comprises the pump control part (30) of the discharge pressure controlling the hydraulic pump driven by motor, it is characterized in that,
Said pump control part (30) comprising:
The pressure set points calculating section (37) of pressure set points (Ps) is calculated based on engine output torque presumed value (Teg) or engine revolution (Nrpm); And
Whether select according to the fault of swash plate angle transducer and export the troubleshooting portion of in above-mentioned pressure set points (Ps) and pressure instruction value (Pcmd),
Above-mentioned pressure set points calculating section (37) comprising:
Comparison engine Driving Torque presumed value (Teg) or engine revolution (Nrpm), with engine output torque setting value (Ts) or engine revolution setting value (Nsrpm) and calculate the torque/revolution difference calculating section (37a) of torque difference (Δ T) or revolution difference (Δ N);
The pressure limit configuration part (37b) of each operating pressure value range (Pmax ~ Pmin) in setting operation portion according to operation signal (So);
Input above-mentioned torque difference (Δ T) or revolution difference (Δ N) and above-mentioned pressure limit value (Pmax ~ Pmin) and the goal pressure configuration part (37c) of set target pressure value (Pt);
According to pressure change slope configuration part (37d) of rate of change setting pressure change slope (α) of the load of presumption by above-mentioned torque difference (Δ T) or revolution difference (Δ N); And
The pressure set points operational part (37e) of computing pressure set points (Ps) based on above-mentioned target pressure value (Pt).
2. the fluid pump control apparatus of engineering machinery according to claim 1, is characterized in that,
Above-mentioned pressure set points operational part (37e) is computing pressure set points (Ps) according to above-mentioned target pressure value (Pt) and above-mentioned pressure change slope (α).
3. the fluid pump control apparatus of engineering machinery according to claim 1 and 2, is characterized in that,
Above-mentioned troubleshooting portion (38) comprising:
The fault whether breakdown judge portion (38a) of swash plate angle transducer whether is judged according to the input of pump delivery flow (Qp); And
To select in above-mentioned pressure set points (Ps) and pressure instruction value (Pcmd) one and the pressure selection portion (38b) that exports,
Above-mentioned selection portion (38b), exports above-mentioned pressure instruction value (Pcmd) when above-mentioned swash plate angle transducer runs well, exports above-mentioned pressure set points (Ps) when above-mentioned swash plate angle transducer breaks down.
4. a hydraulic pump control method for engineering machinery, controls the discharge pressure of the hydraulic pump driven by motor, it is characterized in that, comprising:
The pressure set points calculating pressure set points (Ps) based on engine output torque presumed value (Teg) or engine revolution (Nrpm) calculates step (S37); And
One and the fault handling steps (S38) that exports whether is selected in above-mentioned pressure set points (Ps) and pressure instruction value (Pcmd) according to the fault of swash plate angle transducer,
Above-mentioned pressure set points calculates step (S37) and comprising:
Comparison engine Driving Torque presumed value (Teg) or engine revolution (Nrpm), with engine output torque setting value (Ts) or engine revolution setting value (Nsrpm) and torque/revolution difference of calculating torque difference (Δ T) or revolution difference (Δ N) calculates step (S37a);
The pressure limit setting procedure (S37b) of each operating pressure value range (Pmax ~ Pmin) in setting operation portion according to operation signal (So);
Input above-mentioned torque difference (Δ T) or revolution difference (Δ N) and above-mentioned pressure limit value (Pmax ~ Pmin) and the goal pressure setting procedure (S37c) of set target pressure value (Pt);
According to pressure change slope setting procedure (S37d) of rate of change setting pressure change slope (α) of the load of presumption by above-mentioned torque difference (Δ T) or revolution difference (Δ N); And
Based on the pressure set points calculation step (S37e) of above-mentioned target pressure value (Pt) computing pressure set points (Ps).
5. the hydraulic pump control method of engineering machinery according to claim 4, is characterized in that,
Above-mentioned pressure set points calculation step (S37e) is computing pressure set points (Ps) according to above-mentioned target pressure value (Pt) and above-mentioned pressure change slope (α).
6. the hydraulic pump control method of the engineering machinery according to claim 4 or 5, is characterized in that,
Above-mentioned fault handling steps (S38) comprising:
The fault whether breakdown judge step of swash plate angle transducer whether is judged according to the input of pump delivery flow (Qp); And
To select in above-mentioned pressure set points (Ps) and pressure instruction value (Pcmd) one and the pressure selection step that exports,
In above-mentioned pressure selection step, export above-mentioned pressure instruction value (Pcmd) when above-mentioned swash plate angle transducer runs well, export above-mentioned pressure set points (Ps) when above-mentioned swash plate angle transducer breaks down.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2009-0130246 | 2009-12-23 | ||
| KR1020090130246A KR101637571B1 (en) | 2009-12-23 | 2009-12-23 | Hydraulic pump control apparatus and control method for construction machinery |
| PCT/KR2010/009140 WO2011078543A2 (en) | 2009-12-23 | 2010-12-21 | Apparatus and method for controlling a hydraulic pump of a construction machine |
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| Publication Number | Publication Date |
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| CN102686809A CN102686809A (en) | 2012-09-19 |
| CN102686809B true CN102686809B (en) | 2014-12-24 |
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| CN201080058587.1A Active CN102686809B (en) | 2009-12-23 | 2010-12-21 | Apparatus and method for controlling a hydraulic pump of a construction machine |
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| Country | Link |
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| US (1) | US9206798B2 (en) |
| EP (1) | EP2518220B1 (en) |
| KR (1) | KR101637571B1 (en) |
| CN (1) | CN102686809B (en) |
| BR (1) | BR112012015395A2 (en) |
| WO (1) | WO2011078543A2 (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN102686809A (en) | 2012-09-19 |
| WO2011078543A2 (en) | 2011-06-30 |
| EP2518220A2 (en) | 2012-10-31 |
| KR101637571B1 (en) | 2016-07-20 |
| US9206798B2 (en) | 2015-12-08 |
| US20120263604A1 (en) | 2012-10-18 |
| EP2518220B1 (en) | 2018-10-17 |
| EP2518220A4 (en) | 2017-09-06 |
| BR112012015395A2 (en) | 2016-04-12 |
| KR20110073082A (en) | 2011-06-29 |
| WO2011078543A3 (en) | 2011-11-24 |
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